version: 66.11
glider: 122
mission: 17
dive: 725
start: 9 8 113 13 17 52
data:
$ID,122
$MISSION,17
$DIVE,725
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,420
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53959
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-47109.375
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,167
$PITCH_MAX,3912
$C_PITCH,3150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,2
$ROLL_MIN,346
$ROLL_MAX,3973
$ROLL_DEG,1
$C_ROLL_DIVE,1100
$C_ROLL_CLIMB,1100
$HEAD_ERRBAND,359
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3824
$C_VBD,2850
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-24.500248
$PRESSURE_SLOPE,0.0001162797
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1284
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043208366
$SEABIRD_T_H,0.00062347745
$SEABIRD_T_I,2.2670058e-05
$SEABIRD_T_J,2.2826241e-06
$SEABIRD_C_G,-10.179777
$SEABIRD_C_H,1.1536758
$SEABIRD_C_I,-0.0015873691
$SEABIRD_C_J,0.00021656453
$SC_RECORDABOVE,1050.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,080913,130822,2330.357,-3719.629,40,0.7,40,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-32.3
$GPS2,080913,131723,2330.406,-3719.641,18,0.9,18,-14.0
$SPEED_LIMITS,0.136,0.222
$TGT_NAME,W
$TGT_LATLONG,2435.000,-3842.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,347.1,183165,-15.2,-7.857,-19.53,2419
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.05,-126.5,121,1097,1524,1589,0.0,0.0,0,59,0.00,0.00,-34.10,0.000,16386,0.000,0.000,121,1097,2360,2174,2547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-1.05,-126.5,121,1097,2180,2548,3.7,-5.6,2,107,12.80,0.00,-27.10,0.000,18438,0.366,0.000,2804,1093,3368,3282,3455,0,0,0,0,0,0,14.11,28.83,14.83
$GC,403,-1.05,-126.5,2804,1093,3284,3455,61.1,-18.1,25,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1093,3369,3284,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,704,-1.05,-126.5,2804,1093,3284,3455,104.1,-12.4,45,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1093,3369,3284,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1003,-1.05,-126.5,2804,1093,3285,3457,144.8,-14.3,65,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1093,3370,3284,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1305,-1.05,-126.5,2804,1093,3284,3458,187.0,-14.4,85,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1093,3371,3284,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1603,-1.05,-126.5,2804,1093,3285,3458,225.5,-12.7,105,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1093,3371,3285,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1918,-1.05,-126.5,2803,1093,3285,3458,266.5,-13.2,122,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1093,3371,3285,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2218,-1.05,-126.5,2804,1093,3285,3458,307.3,-13.5,132,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1093,3371,3285,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2518,-1.05,-126.5,2804,1093,3284,3458,347.1,-13.3,142,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1093,3371,3284,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2819,-1.05,-126.5,2804,1093,3285,3458,386.0,-12.8,152,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1093,3371,3285,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3119,-1.05,-126.5,2804,1093,3284,3458,423.1,-12.0,162,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1092,3371,3285,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3418,-1.05,-126.5,2803,1093,3284,3458,458.9,-12.2,172,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1093,3370,3284,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3718,-1.05,-126.5,2804,1093,3284,3456,493.8,-11.4,182,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1093,3370,3284,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4018,-1.05,-126.5,2804,1093,3284,3453,528.9,-11.8,192,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1093,3368,3284,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4319,-1.05,-126.5,2804,1093,3284,3451,565.5,-12.4,202,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1093,3367,3284,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4619,-1.05,-126.5,2804,1093,3284,3449,604.6,-13.0,212,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1093,3366,3284,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4918,-1.05,-126.5,2804,1093,3284,3446,645.5,-13.8,222,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1093,3365,3285,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5218,-1.05,-126.5,2804,1093,3284,3443,686.2,-13.5,232,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1093,3363,3284,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5518,-1.05,-126.5,2803,1093,3284,3441,726.4,-13.2,242,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1093,3363,3285,3441,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5818,-1.05,-126.5,2804,1093,3284,3438,765.0,-12.8,252,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1092,3361,3284,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6119,-1.05,-126.5,2804,1093,3284,3436,803.2,-12.8,262,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1093,3360,3284,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6418,-1.05,-126.5,2804,1093,3284,3434,842.0,-13.1,272,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1093,3359,3285,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6718,-1.05,-126.5,2804,1093,3284,3429,880.9,-12.6,282,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1093,3357,3284,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7018,-1.05,-126.5,2804,1093,3284,3428,918.1,-12.4,292,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1093,3356,3284,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7318,-1.05,-126.5,2804,1093,3284,3425,954.3,-12.0,302,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1093,3354,3284,3425,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7614,begin apogee
$GC,7624,-0.28,0.0,2804,1093,3284,3422,992.1,-12.9,312,7757,0.90,0.00,124.47,1.981,10246,0.194,0.000,3053,1093,2848,2793,2904,0,0,0,0,0,0,13.93,28.83,12.88
$STATE,7760,end apogee,CONTROL_FINISHED_OK
$STATE,7760,begin climb
$GC,7764,1.05,126.5,3052,1093,2790,2903,999.5,0.0,315,7903,1.38,0.00,129.82,1.979,10246,0.125,0.000,3486,1093,2332,2245,2419,0,0,0,0,0,0,14.22,28.83,12.97
$GC,8189,1.19,211.0,3486,1093,2236,2410,989.6,4.3,331,8281,0.15,0.00,88.65,1.965,10246,0.099,0.000,3553,1093,1988,1917,2060,0,0,0,0,0,0,14.69,28.83,13.02
$GC,8582,1.19,211.0,3553,1092,1913,2049,959.7,8.1,344,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1093,1981,1913,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8879,1.19,211.0,3553,1093,1913,2047,935.8,8.0,354,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1093,1980,1913,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9178,1.19,211.0,3553,1093,1910,2047,911.2,8.4,364,9179,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1093,1978,1910,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9478,1.19,211.0,3552,1093,1910,2045,885.6,8.5,374,9479,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1093,1977,1910,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9778,1.20,213.4,3553,1093,1910,2044,861.2,7.8,384,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1093,1977,1910,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10078,1.23,233.8,3553,1093,1906,2044,839.6,7.0,394,10106,0.00,0.00,23.65,1.800,8198,0.000,0.000,3553,1093,1894,1836,1953,0,0,0,0,0,0,28.83,28.83,13.27
$GC,10409,1.23,233.8,3553,1093,1835,1948,813.7,8.1,405,10410,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1093,1891,1835,1948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10709,1.23,233.8,3553,1093,1835,1947,788.1,8.9,415,10710,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1093,1891,1835,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11008,1.23,233.8,3553,1093,1835,1947,760.8,9.1,425,11009,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1093,1891,1835,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11308,1.23,233.8,3553,1093,1832,1946,733.2,9.1,435,11309,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1092,1889,1832,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11608,1.23,233.8,3553,1093,1832,1946,705.8,9.0,445,11609,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1093,1889,1832,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11908,1.23,233.8,3553,1093,1833,1946,680.3,8.1,455,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1093,1889,1832,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12209,1.23,234.3,3553,1093,1831,1946,656.8,7.8,465,12211,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1093,1889,1832,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12509,1.23,234.3,3553,1093,1832,1946,632.4,8.4,475,12510,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1093,1889,1832,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12808,1.23,234.3,3553,1093,1832,1946,606.6,8.7,485,12809,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1093,1889,1832,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13108,1.23,234.3,3552,1093,1833,1946,579.8,9.0,495,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1093,1889,1832,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13408,1.23,234.3,3553,1093,1832,1946,552.9,8.9,505,13409,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1093,1889,1832,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13708,1.23,234.3,3553,1093,1832,1946,526.2,8.7,515,13709,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1093,1889,1832,1946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14010,1.25,246.3,3553,1093,1832,1946,502.9,7.3,525,14025,0.00,0.00,13.30,1.385,8198,0.000,0.000,3553,1093,1844,1791,1897,0,0,0,0,0,0,28.83,28.83,13.36
$GC,14309,1.27,255.3,3553,1093,1791,1894,480.6,7.5,535,14322,0.00,0.00,10.77,1.344,8198,0.000,0.000,3553,1094,1809,1760,1858,0,0,0,0,0,0,28.83,28.83,13.39
$GC,14609,1.27,255.3,3553,1094,1760,1854,456.4,8.2,545,14610,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1094,1807,1760,1854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14908,1.27,255.3,3553,1094,1760,1854,431.5,8.0,555,14909,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1094,1806,1759,1854,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15208,1.27,255.3,3553,1094,1760,1854,404.9,9.2,565,15209,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1094,1807,1760,1854,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19974,end climb,SURFACE_DEPTH_REACHED
$STATE,19974,begin surface coast
$FINISH,1.7,1.011296
$STATE,19994,end surface coast,CONTROL_FINISHED_OK
$STATE,19994,begin surface
$SM_CCo,20080,0.00,0.000,0,0,1550,318.89
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$TT8_MAMPS,0.025466,0.025466
$HUMID,55.43
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.70
$XPDR_PINGS,31
$SC_FREEKB,3834688
$24V_AH,12.9,209.244
$10V_AH,12.6,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,25.275,0.000,452.475,0.000,0.000,0.000,0.000,245.375,7.750,0.000,19.312,2019.976,14591.937,437.822,2676.179,871.827,0.000,1447.797,0.000,2522.902,0.000,0.538,0.000
$DEVICE_MAMPS,365.670,0.000,1980.585,0.000,0.000,0.000,0.000,207.315,420.000,0.000,20.220,10.960,2.190,10.960,28.940,34.180,0.000,16.000,0.000,5.990,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.630,0.000,0.000,0.000
$MEM,354036
$DATA_FILE_SIZE,26661,824
$CAP_FILE_SIZE,287760,0
$CFSIZE,260034560,189542400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,848
$CURRENT,0.145,170.9,1
$GPS,080913,185334,2330.447,-3719.804,26,1.1,26,-14.0